Conveying system

Abstract

This utility model provides a conveying system, a stator assembly, and a clamping mover assembly, including a first mover, a second mover, a first clamping member, and a second clamping member. The first mover is disposed on and electromagnetically coupled to the stator assembly, the second mover is disposed on and electromagnetically coupled to the stator assembly, a first lifting member is disposed on the first mover body, a first clamping structure is disposed on the first lifting member, a second lifting member is disposed on the second mover body, and a second clamping structure is disposed on the second lifting member. When the clamping mover assembly is in a clamping state, the first and second movers can move toward each other to clamp the object to be clamped. When the clamping mover assembly is in a released state, the first and second movers can move away from each other to release the object to be clamped. The technical solution of this application effectively solves the problem of poor flexibility of clamping structures in related technologies.

Description

Technical Field

[0001] This utility model relates to the field of transmission equipment technology, and more specifically, to a conveying system. Background Technology

[0002] In the fields of modern transportation and industrial automation, moving-magnet permanent magnet linear motors are receiving increasing attention as a novel transportation technology. Transportation systems using moving-magnet permanent magnet linear motors consist of a fixed stator and a moving rotor. The interaction between the stator and rotor causes the rotor to move linearly. For example, the rotor includes a permanent magnet that generates a constant magnetic field. The stator includes coils; when current flows through the coils, according to Ampere's law, the coils generate a magnetic field. This magnetic field interacts with the magnetic field of the permanent magnet, causing the rotor of the motor to move linearly.

[0003] In related technologies, when it is necessary to transport a workpiece, the workpiece must first be clamped from the placement position before it can be transported. Usually, a clamping structure with interlocking clamping arms is used for clamping, but this clamping structure is not flexible enough. Utility Model Content

[0004] The main objective of this invention is to provide a conveying system to solve the problem of poor flexibility in clamping structures in related technologies.

[0005] To achieve the above objectives, this utility model provides a conveying system, comprising: a stator assembly extending along a first preset direction; and a clamping mover assembly including a first mover component and a second mover component. The first mover component is disposed on the stator assembly and electromagnetically coupled to the stator assembly, enabling the first mover component to move along the first preset direction. The second mover component is disposed on the stator assembly and electromagnetically coupled to the stator assembly, enabling the second mover component to move along the first preset direction. The first mover component includes a first mover body and a first clamping member disposed on the first mover body. The first clamping member includes a first lifting member and a first clamping structure. The first lifting member is disposed on the first mover body, and the first clamping structure is disposed on... In the first lifting member, the second moving member includes a second moving body and a second clamping member disposed on the second moving body. The second clamping member includes a second lifting member and a second clamping structure. The second lifting member is disposed on the second moving body, and the second clamping structure is disposed on the second lifting member. The clamping moving member has a clamping state and a releasing state. When the clamping moving member is in the clamping state, the first moving member and the second moving member can move toward each other so that the first clamping structure and the second clamping structure clamp the object to be clamped. When the clamping moving member is in the releasing state, the first moving member and the second moving member can move away from each other so that the first clamping structure and the second clamping structure release the object to be clamped.

[0006] Furthermore, the first clamping structure includes a first gripper, a second gripper, and a drive unit. The drive unit is connected to the lower end of the first lifting member, and the first gripper and the second gripper are connected to the drive unit. The drive unit drives the first gripper and the second gripper to move toward or away from each other in a second preset direction, thereby causing the first gripper and the second gripper to clamp or release the object to be clamped.

[0007] Furthermore, the drive unit includes a first cylinder structure, with a first gripper and a second gripper respectively disposed at both ends of the first cylinder structure; and / or, the first clamping structure further includes a telescopic motor, which is disposed in a vertical direction, and the drive unit is connected to the lower end of the first lifting member through the telescopic motor.

[0008] Furthermore, the first lifting component includes a second cylinder structure, which is connected to the first moving body, and the first clamping structure is connected to the output end of the second cylinder structure.

[0009] Furthermore, the conveying system also includes a control valve connected to the second cylinder structure. The second cylinder structure includes a cylinder body, a piston, and an output rod. The piston is movably disposed within the cylinder body and divides the cylinder body into a first chamber and a second chamber. The output rod is disposed within the first chamber, with its first end connected to the piston and its second end forming the output end of the second cylinder structure. The control valve has a push rod control position and a retractable rod control position. When the control valve is in the push rod control position, the control valve connects the air source and the second chamber, as well as the external atmosphere and the first chamber. When the control valve is in the retractable rod control position, the control valve connects the air source and the first chamber, as well as the external atmosphere and the second chamber.

[0010] Furthermore, the conveying system also includes a first speed control valve disposed between the first chamber and the control valve; and / or, the conveying system also includes a second speed control valve disposed between the second chamber and the control valve.

[0011] Furthermore, the stator assembly includes multiple stator structures spliced ​​together along a first preset direction. Each stator structure includes a stator body and an armature winding disposed on the stator body. The first moving part includes a moving part and a permanent magnet array disposed on the stator body. The permanent magnet array is electromagnetically coupled to the armature winding. The first lifting part is connected to the moving part.

[0012] Furthermore, the stator body has a slot extending along a first preset direction, the armature winding is inserted into the slot, and the permanent magnet array is disposed on the inner side wall of the slot.

[0013] Furthermore, a guide structure is provided between the stator structure and the first moving part. The guide structure includes a slider and a guide rail. The slider is provided with a guide groove, and the guide rail is disposed in the guide groove and slides in the guide groove.

[0014] Furthermore, a sensor is provided on the first moving part, and multiple detection elements are provided on the stator body, which can cooperate with the sensor.

[0015] Applying the technical solution of this utility model, the stator assembly extends along a first preset direction, providing a mounting base for the clamping mover assembly; the clamping mover assembly includes a first mover and a second mover, the first mover being disposed on the stator assembly and electromagnetically coupled to the stator assembly, the second mover being disposed on the stator assembly and electromagnetically coupled to the stator assembly, the stator assembly applying driving forces to the first and second movers respectively, thereby enabling the first and second movers to move along the first preset direction; the first mover includes a first mover body and a [missing information - likely a component or element] disposed on the first mover body. The first clamping component and the second moving component include a second moving body and a second clamping component disposed on the second moving body. The first clamping component includes a first lifting component and a first clamping structure. The first lifting component is disposed on the first moving body and can drive the first lifting component to move along a first preset direction. The first lifting component can drive the first clamping structure to move up and down. The second clamping component includes a second lifting component and a second clamping structure. The second lifting component is disposed on the second moving body and can drive the second lifting component to move along the first preset direction. The second lifting component can drive the second clamping structure to move up and down. The first lifting component and the second lifting component can be height adjusted, so that the first clamping structure and the second clamping structure can avoid other structures on the conveying system during operation, thereby enhancing the flexibility of the clamping moving component assembly. The first lifting component and the second clamping structure can respectively drive the first clamping structure and the second clamping structure to move up and down, so that the first clamping structure and the second clamping structure can approach the object to be clamped. The clamping moving component assembly has a clamping state and a releasing state. When it is necessary to clamp the object to be clamped, the first clamping structure and the second clamping structure are first... The holding structure moves downwards to approach the object to be clamped, and then the clamping moving part assembly switches to the clamping state. At this time, the first and second moving parts move towards each other to clamp the object. When it is necessary to release the object, the clamping moving part assembly switches to the release state, and the first and second moving parts move away from each other to release the object. By utilizing the electromagnetic coupling between the stator assembly and the moving part to drive the moving part to move, thereby clamping or releasing the object, the position of the moving part can be precisely controlled, thus improving the accuracy and flexibility of clamping. Therefore, the technical solution of this application can effectively solve the problem of poor flexibility in clamping structures in related technologies. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0017] Figure 1 A three-dimensional structural schematic diagram of the conveying system from a first angle is shown in some embodiments of this application;

[0018] Figure 2 It shows Figure 1 An enlarged schematic diagram of point A in the conveying system;

[0019] Figure 3 A perspective view of the conveying system from a second angle is shown in some embodiments of this application;

[0020] Figure 4 It shows Figure 3 An enlarged schematic diagram of point B in the conveying system;

[0021] Figure 5 It shows Figure 3 An enlarged schematic diagram of point C in the conveying system;

[0022] Figure 6 A three-dimensional structural schematic diagram of the first moving part of the conveying system in some embodiments of this application is shown;

[0023] Figure 7 A three-dimensional structural diagram of the conveying system from a third angle is shown in some embodiments of this application;

[0024] Figure 8 It shows Figure 7 An enlarged schematic diagram of point D in the conveying system;

[0025] Figure 9 A schematic diagram of the second cylinder structure of the conveying system in some embodiments of this application is shown.

[0026] The above figures include the following reference numerals:

[0027] 1. The object to be clamped;

[0028] 10. Stator assembly; 11. Stator structure; 111. Stator body; 112. Armature winding; 113. Slot;

[0029] 20. Clamping mover assembly; 21. First mover component; 211. Mover body; 212. Permanent magnet array; 22. Second mover component; 23. First clamping component; 231. First lifting component; 2311. Second cylinder structure; 2312. Cylinder body; 2313. Piston; 2314. Output rod; 2315. First cavity; 2316. Second cavity; 232. First clamping structure; 2321. First gripper; 2322. Second gripper; 2323. Drive unit; 24. Second clamping component; 241. Second lifting component; 242. Second clamping structure;

[0030] 30. Control valve; 40. First speed control valve; 50. Second speed control valve; 60. Guide structure; 61. Slider; 62. Guide rail; 70. Sensor; 80. Detection element. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0032] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0034] like Figure 1 as well as Figure 2As shown, this application provides a conveying system. Some embodiments of the conveying system include: a stator assembly 10 and a clamping mover assembly 20; the stator assembly 10 extends along a first preset direction; the clamping mover assembly 20 includes a first mover component 21 and a second mover component 22. The first mover component 21 is disposed on the stator assembly 10 and electromagnetically coupled to the stator assembly 10, enabling the first mover component 21 to move along the first preset direction. The second mover component 22 is disposed on the stator assembly 10 and electromagnetically coupled to the stator assembly 10, enabling the second mover component 22 to move along the first preset direction. The first mover component 21 includes a first mover body and a first clamping member 23 disposed on the first mover body. The first clamping member 23 includes a first lifting member 231 and a first clamping structure 232. The first lifting member 231 is disposed on the first mover body, and the first clamping structure 232... The first lifting member 231 is provided with a structure 232. The second moving member 22 includes a second moving member body and a second clamping member 24 provided on the second moving member body. The second clamping member 24 includes a second lifting member 241 and a second clamping structure 242. The second lifting member 241 is provided on the second moving member body, and the second clamping structure 242 is provided on the second lifting member 241. The clamping moving member assembly 20 has a clamping state and a releasing state. When the clamping moving member assembly 20 is in the clamping state, the first moving member 21 and the second moving member 22 can move toward each other so that the first clamping structure 232 and the second clamping structure 242 clamp the object to be clamped 1. When the clamping moving member assembly 20 is in the releasing state, the first moving member 21 and the second moving member 22 can move away from each other so that the first clamping structure 232 and the second clamping structure 242 release the object to be clamped 1.

[0035] Applying the technical solution of this embodiment, the stator assembly 10 extends along a first preset direction, and the stator assembly 10 provides an installation base for the clamping rotor assembly 20; the clamping rotor assembly 20 includes a first rotor 21 and a second rotor 22, the first rotor 21 is disposed on the stator assembly 10 and electromagnetically coupled to the stator assembly 10, the second rotor 22 is disposed on the stator assembly 10 and electromagnetically coupled to the stator assembly 10, the stator assembly 10 applies a driving force to the first rotor 21 and the second rotor 22 respectively, thereby enabling the first rotor 21 and the second rotor 22 to move along the first preset direction; the first rotor 21 includes a first rotor body and a first rotor body disposed on the first rotor body. The first clamping member 23 and the second moving member 22 include a second moving member body and a second clamping member 24 disposed on the second moving member body. The first clamping member 23 includes a first lifting member 231 and a first clamping structure 232. The first lifting member 231 is disposed on the first moving member body, and the first moving member body can drive the first lifting member 231 to move along a first preset direction. The first lifting member 231 can drive the first clamping structure 232 to move up and down. The second clamping member 24 includes a second lifting member 241 and a second clamping structure 242. The second lifting member 241 is disposed on the second moving member body, and the second moving member body can drive the second lifting member 241 to move along the first preset direction. The second lifting member 241 can drive the second clamping structure 242 to move up and down; the first lifting member 231 and the second lifting member 241 can be height adjusted, so that the first clamping structure 232 and the second clamping structure 242 can avoid other structures on the conveying system during operation, thereby enhancing the flexibility of the clamping actuator assembly 20; the first lifting member 231 and the second clamping structure 242 can respectively drive the first clamping structure 232 and the second clamping structure 242 to move up and down, so that the first clamping structure 232 and the second clamping structure 242 can approach the object to be clamped 1; the clamping actuator assembly 20 has a clamping state and a releasing state, when it is necessary to clamp the object 1 During clamping, the first clamping structure 232 and the second clamping structure 242 are first moved downwards to approach the object to be clamped 1. Then, the clamping moving part assembly 20 is switched to the clamping state. At this time, the first moving part body and the second moving part body move towards each other to clamp the object to be clamped 1. When it is necessary to release the object to be clamped 1, the clamping moving part assembly 20 is switched to the release state, and the first moving part body and the second moving part body move away from each other to release the object to be clamped 1. By using the electromagnetic coupling between the stator assembly 10 and the moving part to drive the moving part to move, thereby clamping or releasing the object to be clamped 1, the position of the moving part can be precisely controlled, thereby improving the accuracy and flexibility of clamping. Therefore, the technical solution of this embodiment can effectively solve the problem of poor flexibility of clamping structures in related technologies.

[0036] It should be noted that "the first moving part 21 and the second moving part 22 move toward each other" means that the first moving part 21 is stationary while the second moving part 22 moves toward the first moving part 21, or the second moving part 22 is stationary while the first moving part 21 moves toward the second moving part 22, or both the first moving part 21 and the second moving part 22 move toward each other; "the first moving part 21 and the second moving part 22 move away from each other" means that the first moving part 21 is stationary while the second moving part 22 moves away from the first moving part 21, or the second moving part 22 is stationary while the first moving part 21 moves away from the second moving part 22, or both the first moving part 21 and the second moving part 22 move away from each other.

[0037] like Figure 3 , Figure 4 as well as Figure 6 As shown, the first clamping structure 232 includes a first gripper 2321, a second gripper 2322, and a drive unit 2323. The drive unit 2323 is connected to the lower end of the first lifting member 231. The first gripper 2321 and the second gripper 2322 are connected to the drive unit 2323. The drive unit 2323 drives the first gripper 2321 and the second gripper 2322 to move toward or away from each other in a second preset direction, thereby causing the first gripper 2321 and the second gripper 2322 to clamp or release the object to be clamped 1. Specifically, the first gripper 2321 and the second gripper 2322 can move toward or away from each other along the second preset direction as the drive unit 2323 moves, thereby clamping the object to be clamped 1 in the second preset direction; similarly, the second clamping structure 242 also has a similar structure to the first clamping structure 232, that is, the four grippers can respectively clamp the circumferential wall of the object to be clamped 1, thereby making the clamping effect more stable; the second preset direction is set at an angle to the first preset direction, thereby enabling the object to be clamped 1 to be clamped in more directions, thereby further increasing the accuracy and flexibility of the clamping actuator assembly 20.

[0038] like Figure 3 , Figure 4 as well as Figure 6As shown, the drive unit 2323 includes a first cylinder structure, with a first gripper 2321 and a second gripper 2322 respectively disposed at both ends of the first cylinder structure. Specifically, the first cylinder structure has advantages such as low cost, stable movement, and simple structure, thereby ensuring that the first gripper 2321 and the second gripper 2322 can move stably along a second preset direction. The first cylinder structure is used to drive the first gripper 2321 and the second gripper 2322 to move towards or away from each other in the second preset direction (lateral direction). The first cylinder structure includes a cylinder body, a piston, a piston rod, a guide member, etc. One of the first gripper 2321 and the second gripper 2322 is connected to the cylinder body, and the other of the first gripper 2321 and the second gripper 2322 is connected to the piston rod; the first cylinder structure drives the piston and piston rod to move by the pressure of gas (usually compressed air). When compressed air enters the cylinder from one end, it pushes the piston to move to the other end. At the same time, the piston rod extends or retracts, thereby realizing that the first gripper 2321 and the second gripper 2322 move towards or away from each other in the second preset direction. The end into which the gas enters determines the direction of piston movement.

[0039] Furthermore, in some embodiments, the first clamping structure 232 also includes a telescopic motor, which is arranged vertically, and the drive unit 2323 is connected to the lower end of the first lifting member 231 via the telescopic motor. By setting the telescopic motor and the first lifting member 231, the height of the first gripper 2321 and the second gripper 2322 can be adjusted in two stages, thereby making the position of the first clamping structure 232 in the height direction more precise. It should be noted that the telescopic motor has the characteristic of precise control. Through the combined use of the telescopic motor and the cylinder structure, the cylinder structure can provide greater force or torque, making the clamping load stronger. The telescopic motor is precisely controlled and can provide more precise height adjustment. The telescopic motor is usually position-controlled by an electronic control system, which can provide very accurate positioning and is suitable for occasions requiring high-precision movement. The speed of the telescopic motor can be controlled by adjusting the power supply voltage or frequency of the motor to achieve stepless speed regulation. The response speed of the telescopic motor is usually faster, especially in occasions that require frequent starts and stops.

[0040] like Figure 3 , Figure 4 as well as Figure 6 As shown, the first lifting component 231 includes a second cylinder structure 2311, which is connected to the first moving body. The first clamping structure 232 is connected to the output end of the second cylinder structure 2311. The second cylinder structure 2311 has advantages such as low cost, stable movement, and simple structure, thereby ensuring that the first clamping structure 232 can move stably along the height direction.

[0041] like Figure 9As shown, the conveying system also includes a control valve 30 connected to the second cylinder structure 2311. The second cylinder structure 2311 includes a cylinder body 2312, a piston 2313, and an output rod 2314. The piston 2313 is movably disposed within the cylinder body 2312 and divides the cylinder body 2312 into a first chamber 2315 and a second chamber 2316. The output rod 2314 is disposed within the first chamber 2315. The first end of the output rod 2314 is connected to the piston 2313, and the second end of the output rod 2314 forms the output end of the second cylinder structure 2311. The control valve 30 has a push rod control position and a retractable rod control position. When the control valve 30 is in the push rod control position, the control valve 30 connects the air source and the second chamber 2316, as well as the external atmosphere and the first chamber 2315. When the control valve 30 is in the retractable rod control position, the control valve 30 connects the air source and the first chamber 2315, as well as the external atmosphere and the second chamber 2316. Specifically, the control valve 30 controls the working state of the second cylinder structure 2311. When the output rod 2314 needs to be extended, the control valve 30 switches to the push rod control position. At this time, the air pressure in the second chamber 2316 increases while the air pressure in the first chamber 2315 decreases. The piston 2313 moves towards the first chamber 2315, causing the output rod 2314 to be extended. When the output rod 2314 needs to be retracted, the control valve 30 switches to the retractable rod control position. At this time, the air pressure in the second chamber 2316 decreases while the air pressure in the first chamber 2315 increases. The piston 2313 moves towards the second chamber 2316, causing the output rod 2314 to be retracted. This achieves height control of the first clamping structure 232. The first cylinder structure also has a similar structure.

[0042] More specifically, the control valve 30 can be a two-position five-way valve, which includes a first gas outlet, a first gas inlet, a second gas outlet, and a second gas inlet. When the control valve 30 is switched to the push rod control position, the first gas outlet is connected to the second chamber 2316, and the first gas inlet is connected to the first chamber 2315, so that the gas pressure in the second chamber 2316 is greater than the gas pressure in the first chamber 2315. When the control valve 30 is switched to the retractable rod control position, the second gas inlet is connected to the second chamber 2316, and the second gas outlet is connected to the first chamber 2315, so that the gas pressure in the first chamber 2315 is greater than the gas pressure in the second chamber 2316.

[0043] like Figure 9 As shown, the conveying system also includes a first speed regulating valve 40, which is disposed between the first chamber 2315 and the control valve 30; the conveying system also includes a second speed regulating valve 50, which is disposed between the second chamber 2316 and the control valve 30. The first speed regulating valve 40 and the second speed regulating valve 50 are used to control the gas flow rate to ensure that the movement of the piston 2313 is more stable and smooth.

[0044] like Figures 5 to 8As shown, the stator assembly 10 includes multiple stator structures 11, which are spliced ​​together along a first preset direction. Each stator structure 11 includes a stator body 111 and an armature winding 112 disposed on the stator body 111. The first moving element 21 includes a moving element body 211 (i.e., the first moving element) and a permanent magnet array 212 disposed on the stator body 111. The permanent magnet array 212 is electromagnetically coupled to the armature winding 112. A first lifting element 231 is connected to the moving element body 211. Specifically, the cooperation between the permanent magnet array 212 and the armature winding 112 generates a driving force between the stator structure 11 and the moving element to drive the moving element to move. The splicing arrangement of multiple stator structures 11 allows workers to assemble the stator assembly 10 according to a designed movement path.

[0045] like Figure 5 as well as Figure 8 As shown, the stator body 111 has a slot 113 extending along a first preset direction, the armature winding 112 is inserted into the slot 113, and the permanent magnet array 212 is disposed on the inner sidewall of the slot 113. Specifically, the cooperation between the slot 113 and the armature winding 112 can restrict the movement path of the first moving part 21, thus having a guiding effect.

[0046] like Figure 5 as well as Figure 8 As shown, a guide structure 60 is provided between the stator structure 11 and the first moving part 21. The guide structure 60 includes a slider 61 and a guide rail 62. The slider 61 is provided with a guide groove, and the guide rail 62 is disposed in the guide groove and slides within the guide groove. Specifically, the slider 61 and the guide rail 62 have the advantages of simple structure and easy processing. The slider 61 and the guide rail 62 can both guide and prevent disengagement, so as to ensure the stable movement of the first moving part 21.

[0047] like Figure 5 as well as Figure 8 As shown, a sensor 70 is provided on the first moving part 21, and multiple detection elements 80 are provided on the stator body 111. The detection elements 80 can cooperate with the sensor 70. Specifically, the sensor 70 can be a position sensor to detect the position of the first moving part 21, so as to provide a basis for control information for the host computer or operators.

[0048] In the description of this utility model, it should be understood that "multiple" means two or more. Directional terms such as "front, back, up, down, left, right," "horizontal, vertical, perpendicular, horizontal," and "top, bottom" indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are used solely for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner or outer contours relative to the outline of each component itself.

[0049] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0050] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0051] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A conveying system, characterized in that, include: The stator assembly (10) extends along a first preset direction; The clamping actuator assembly (20) includes a first actuator (21) and a second actuator (22). The first actuator (21) is disposed on the stator assembly (10) and electromagnetically coupled to the stator assembly (10) so that the first actuator (21) can move along a first preset direction. The second actuator (22) is disposed on the stator assembly (10) and electromagnetically coupled to the stator assembly (10) so that the second actuator (22) can move along the first preset direction. The first actuator (21) includes a first actuator body and a first clamping member (23) disposed on the first actuator body. The holding member (23) includes a first lifting member (231) and a first clamping structure (232). The first lifting member (231) is disposed on the first moving part body, and the first clamping structure (232) is disposed on the first lifting member (231). The second moving part (22) includes a second moving part body and a second clamping member (24) disposed on the second moving part body. The second clamping member (24) includes a second lifting member (241) and a second clamping structure (242). The second lifting member (241) is disposed on the second moving part body, and the second clamping structure (242) is disposed on the second lifting member (241). The clamping actuator assembly (20) has a clamping state and a releasing state. When the clamping actuator assembly (20) is in the clamping state, the first actuator (21) and the second actuator (22) can move toward each other so that the first clamping structure (232) and the second clamping structure (242) clamp the object to be clamped (1). When the clamping actuator assembly (20) is in the releasing state, the first actuator (21) and the second actuator (22) can move away from each other so that the first clamping structure (232) and the second clamping structure (242) release the object to be clamped (1).

2. The conveying system according to claim 1, characterized in that, The first clamping structure (232) includes a first gripper (2321), a second gripper (2322), and a drive unit (2323). The drive unit (2323) is connected to the lower end of the first lifting member (231). The first gripper (2321) and the second gripper (2322) are connected to the drive unit (2323). The drive unit (2323) drives the first gripper (2321) and the second gripper (2322) to move toward or away from each other in a second preset direction, thereby causing the first gripper (2321) and the second gripper (2322) to clamp or release the object to be clamped (1).

3. The conveying system according to claim 2, characterized in that, The drive unit (2323) includes a first cylinder structure, with the first gripper (2321) and the second gripper (2322) respectively disposed at both ends of the first cylinder structure; and / or, The first clamping structure (232) also includes a telescopic motor, which is arranged in a vertical direction, and the drive unit (2323) is connected to the lower end of the first lifting member (231) through the telescopic motor.

4. The conveying system according to claim 1, characterized in that, The first lifting member (231) includes a second cylinder structure (2311), which is connected to the first moving body, and the first clamping structure (232) is connected to the output end of the second cylinder structure (2311).

5. The conveying system according to claim 4, characterized in that, The conveying system further includes a control valve (30) communicating with the second cylinder structure (2311). The second cylinder structure (2311) includes a cylinder body (2312), a piston (2313), and an output rod (2314). The piston (2313) is movably disposed within the cylinder body (2312) and divides the cylinder body (2312) into a first chamber (2315) and a second chamber (2316). The output rod (2314) is disposed within the first chamber (2315), and the first end of the output rod (2314) is connected to the piston (2313). The second end of the output rod (2314) forms the output end of the second cylinder structure (2311). The control valve (30) has a push rod control position and a retract rod control position. When the control valve (30) is in the push rod control position, the control valve (30) connects the air source and the second chamber (2316) and connects the external atmosphere and the first chamber (2315). When the control valve (30) is in the retract rod control position, the control valve (30) connects the air source and the first chamber (2315) and connects the external atmosphere and the second chamber (2316).

6. The conveying system according to claim 5, characterized in that, The conveying system further includes a first speed regulating valve (40), which is disposed between the first chamber (2315) and the control valve (30); and / or, The conveying system also includes a second speed control valve (50), which is disposed between the second chamber (2316) and the control valve (30).

7. The conveying system according to any one of claims 1 to 6, characterized in that, The stator assembly (10) includes multiple stator structures (11), which are spliced ​​together along the first preset direction. Each stator structure (11) includes a stator body (111) and an armature winding (112) disposed on the stator body (111). The first moving part (21) includes a moving part (211) and a permanent magnet array (212) disposed on the stator body (111). The permanent magnet array (212) is electromagnetically coupled to the armature winding (112). The first lifting part (231) is connected to the moving part (211).

8. The conveying system according to claim 7, characterized in that, The stator body (111) has a slot (113) extending along the first preset direction, the armature winding (112) is inserted into the slot (113), and the permanent magnet array (212) is disposed on the inner sidewall of the slot (113).

9. The conveying system according to claim 7, characterized in that, A guide structure (60) is provided between the stator structure (11) and the first moving part (21). The guide structure (60) includes a slider (61) and a guide rail (62). A guide groove is provided on the slider (61), and the guide rail (62) is disposed in the guide groove and slides in cooperation with the guide groove.

10. The conveying system according to claim 7, characterized in that, A sensor (70) is provided on the first moving part (21), and a plurality of detection elements (80) are provided on the stator body (111). The detection elements (80) can cooperate with the sensor (70).

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